%iDynTree sensors data structures module

Data structures and algorithm to model sensors distributed on multibody articulated systems.

Classes

class iDynTree::AccelerometerSensor: Interface to the Accelerometer class.
class iDynTree::GyroscopeSensor: Interface to the Gyroscope class.
class iDynTree::Sensor: Interface for Sensor classes in iDynTree .
class iDynTree::JointSensor: Interface for Sensor that are associated to a Joint.
class iDynTree::LinkSensor: Interface for Sensor that are associated to a Link.
class iDynTree::SensorsList: Structure representing a group of sensors associated with an UndirectedTree.
class iDynTree::SensorsMeasurements: A list of measurements associated with a SensorsList .
class iDynTree::SixAxisForceTorqueSensor: A six axis force torque sensor class implementation of the Sensor.
class iDynTree::ThreeAxisAngularAccelerometerSensor: Class representing a three axis angular accelerometer, i.e.
class iDynTree::ThreeAxisForceTorqueContactSensor: Class representing a three axis force-torque contact sensor.

Functions

auto predictSensorsMeasurements(const Model& model, const Traversal& traversal, const FreeFloatingPos& robotPos, const FreeFloatingVel& robotVel, const FreeFloatingAcc& robotAcc, const LinAcceleration& gravity, const LinkNetExternalWrenches& externalWrenches, FreeFloatingAcc& buf_properRobotAcc, LinkPositions& buf_linkPos, LinkVelArray& buf_linkVel, LinkAccArray& buf_linkProperAcc, LinkInternalWrenches& buf_internalWrenches, FreeFloatingGeneralizedTorques& buf_outputTorques, SensorsMeasurements& predictedMeasurement) -> bool: Predict the measurement of a set of sensors.
auto predictSensorsMeasurementsFromRawBuffers(const Model& model, const Traversal& traversal, const LinkVelArray& buf_linkVel, const LinkAccArray& buf_linkProperAcc, const LinkInternalWrenches& buf_internalWrenches, SensorsMeasurements& predictedMeasurement) -> bool: Predict the measurement of a set of sensors.
auto predictSensorsMeasurements(const Model& model, const SensorsList& sensorList, const Traversal& traversal, const FreeFloatingPos& robotPos, const FreeFloatingVel& robotVel, const FreeFloatingAcc& robotAcc, const LinAcceleration& gravity, const LinkNetExternalWrenches& externalWrenches, FreeFloatingAcc& buf_properRobotAcc, LinkPositions& buf_linkPos, LinkVelArray& buf_linkVel, LinkAccArray& buf_linkProperAcc, LinkInternalWrenches& buf_internalWrenches, FreeFloatingGeneralizedTorques& buf_outputTorques, SensorsMeasurements& predictedMeasurement) -> bool: Predict the measurement of a set of sensors.
auto predictSensorsMeasurementsFromRawBuffers(const Model& model, const SensorsList& sensorList, const Traversal& traversal, const LinkVelArray& buf_linkVel, const LinkAccArray& buf_linkProperAcc, const LinkInternalWrenches& buf_internalWrenches, SensorsMeasurements& predictedMeasurement) -> bool: Predict the measurement of a set of sensors.

Function documentation

bool predictSensorsMeasurements(const Model& model, const Traversal& traversal, const FreeFloatingPos& robotPos, const FreeFloatingVel& robotVel, const FreeFloatingAcc& robotAcc, const LinAcceleration& gravity, const LinkNetExternalWrenches& externalWrenches, FreeFloatingAcc& buf_properRobotAcc, LinkPositions& buf_linkPos, LinkVelArray& buf_linkVel, LinkAccArray& buf_linkProperAcc, LinkInternalWrenches& buf_internalWrenches, FreeFloatingGeneralizedTorques& buf_outputTorques, SensorsMeasurements& predictedMeasurement)
#include <iDynTree/PredictSensorsMeasurements.h>

Predict the measurement of a set of sensors.

Parameters
model in	the model used to predict the sensor measurements.
traversal in	the Traversal used for predict the sensor measurements.
robotPos in	the position of the model used for prediction.
robotVel in	the velocity of the model used for prediction.
robotAcc in	the acceleration of the model used for prediction.
gravity in	the gravity acceleration (in world frame) used for prediction.
externalWrenches in	the net external wrench acting on each link.
buf_properRobotAcc out	internal buffer, storing the proper acceleration of the model.
buf_linkPos out	internal buffer, storing the position of every link in the model.
buf_linkVel out	internal buffer, storing the velocity of every link in the model.
buf_linkProperAcc out	internal buffer, storing the proper acceleration of every link in the model.
buf_internalWrenches out	internal buffer, storing the internal wrenches.
buf_outputTorques out	internal buffer, storing the generalized joint torques.
predictedMeasurement out	the predicted measurements for the sensors.
Returns	true if the sensors in the list are all valid

Given a SensorList object describing a list of sensor of a model fill the output argument predictedMeasurement with the predicted measurement of the sensors consistent with the state and the acceleration/torques and forces of the Model.

This function takes in input the internal buffers used for the computation to avoid dynamic memory allocation.

bool predictSensorsMeasurementsFromRawBuffers(const Model& model, const Traversal& traversal, const LinkVelArray& buf_linkVel, const LinkAccArray& buf_linkProperAcc, const LinkInternalWrenches& buf_internalWrenches, SensorsMeasurements& predictedMeasurement)
#include <iDynTree/PredictSensorsMeasurements.h>

Predict the measurement of a set of sensors.

Parameters
model in	the model used to predict the sensor measurements.
traversal in	the Traversal used for predict the sensor measurements.
buf_linkVel in	internal buffer, storing the velocity of every link in the model.
buf_linkProperAcc in	internal buffer, storing the proper acceleration of every link in the model.
buf_internalWrenches in	internal buffer, storing the internal wrenches.
predictedMeasurement out	the predicted measurements for the sensors.
Returns	true if the sensors in the list are all valid

Helper function that works on buffers already compute with Dynamics functions

bool predictSensorsMeasurements(const Model& model, const SensorsList& sensorList, const Traversal& traversal, const FreeFloatingPos& robotPos, const FreeFloatingVel& robotVel, const FreeFloatingAcc& robotAcc, const LinAcceleration& gravity, const LinkNetExternalWrenches& externalWrenches, FreeFloatingAcc& buf_properRobotAcc, LinkPositions& buf_linkPos, LinkVelArray& buf_linkVel, LinkAccArray& buf_linkProperAcc, LinkInternalWrenches& buf_internalWrenches, FreeFloatingGeneralizedTorques& buf_outputTorques, SensorsMeasurements& predictedMeasurement)
#include <iDynTree/PredictSensorsMeasurements.h>

Predict the measurement of a set of sensors.

Parameters
model in	the model used to predict the sensor measurements.
sensorList in	the sensors list used to predict the sensors measurements.
traversal in	the Traversal used for predict the sensor measurements.
robotPos in	the position of the model used for prediction.
robotVel in	the velocity of the model used for prediction.
robotAcc in	the acceleration of the model used for prediction.
gravity in	the gravity acceleration (in world frame) used for prediction.
externalWrenches in	the net external wrench acting on each link.
buf_properRobotAcc out	internal buffer, storing the proper acceleration of the model.
buf_linkPos out	internal buffer, storing the position of every link in the model.
buf_linkVel out	internal buffer, storing the velocity of every link in the model.
buf_linkProperAcc out	internal buffer, storing the proper acceleration of every link in the model.
buf_internalWrenches out	internal buffer, storing the internal wrenches.
buf_outputTorques out	internal buffer, storing the generalized joint torques.
predictedMeasurement out	the predicted measurements for the sensors.
Returns	true if the sensors in the list are all valid

This function takes in input the internal buffers used for the computation to avoid dynamic memory allocation.

bool predictSensorsMeasurementsFromRawBuffers(const Model& model, const SensorsList& sensorList, const Traversal& traversal, const LinkVelArray& buf_linkVel, const LinkAccArray& buf_linkProperAcc, const LinkInternalWrenches& buf_internalWrenches, SensorsMeasurements& predictedMeasurement)
#include <iDynTree/PredictSensorsMeasurements.h>

Predict the measurement of a set of sensors.

Parameters
model in	the model used to predict the sensor measurements.
sensorList in	the sensors list used to predict the sensors measurements.
traversal in	the Traversal used for predict the sensor measurements.
buf_linkVel in	internal buffer, storing the velocity of every link in the model.
buf_linkProperAcc in	internal buffer, storing the proper acceleration of every link in the model.
buf_internalWrenches in	internal buffer, storing the internal wrenches.
predictedMeasurement out	the predicted measurements for the sensors.
Returns	true if the sensors in the list are all valid

Helper function that works on buffers already compute with Dynamics functions